version: 66.04
glider: 14
mission: 6
dive: 37
start: 9 5 108 22 13 17
data:
$ID,14
$MISSION,6
$DIVE,37
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,330
$T_MISSION,340
$T_ABORT,1440
$T_TURN,240
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,1
$FERRY_MAX,22
$KALMAN_USE,2
$HD_A,0.00312
$HD_B,0.0099099996
$HD_C,2.4896e-05
$HEADING,315
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.599998
$TGT_DEFAULT_LON,-122.3
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-650904.81
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,383
$PITCH_MAX,3719
$C_PITCH,2705
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15.5
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,202
$ROLL_MAX,3893
$ROLL_DEG,40
$C_ROLL_DIVE,1600
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,27
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,187
$VBD_MAX,3559
$C_VBD,2539
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00159
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,95.400002
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-15.110782
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,-0.69999999
$TCM_ROLL_OFFSET,0.5
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,150
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,4
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,2
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,16
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,21
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043093944
$SEABIRD_T_H,0.00064003747
$SEABIRD_T_I,2.16239e-05
$SEABIRD_T_J,2.0570888e-06
$SEABIRD_C_G,-10.001513
$SEABIRD_C_H,1.1265433
$SEABIRD_C_I,-0.0010666439
$SEABIRD_C_J,0.00016314148
$GPS1,215701,6329.187,-618.275,37,1.3,37,-8.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-61.3
$GPS2,221256,6329.174,-617.786,15,1.2,32,-8.4
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,HEADING
$TGT_LATLONG,6336.810,-634.968
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.083,-0.242
$KALMAN_X,65426.2,-9.8,97.6,-67618.7,1620.8
$KALMAN_Y,66441.6,-131.4,393.1,-108976.0,1249.1
$MHEAD_RNG_PITCHd_Wd,323.4,20000,-17.8,-10.000
$D_GRID,990
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-1.38,-146.6,0.0,0.0,0,119,0.00,0.00,-100.82,0.000,2,0.000,0.000,382,1565,2565
$GC,123,-1.38,-146.6,3.3,-2.7,5,155,11.43,2.53,-14.12,0.000,4,0.181,0.079,2397,2999,3138
$GC,307,-1.38,-146.6,30.8,-14.3,13,311,0.00,2.42,0.00,0.000,6,0.000,0.060,2397,1596,3139
$GC,629,-1.38,-146.6,75.0,-13.9,29,633,0.00,2.50,0.00,0.000,4,0.000,0.081,2397,216,3142
$GC,747,-1.38,-146.6,91.5,-13.8,34,751,0.00,2.33,0.00,0.000,6,0.000,0.054,2397,1620,3143
$GC,1069,-1.38,-146.6,132.3,-12.7,50,1073,0.00,2.53,0.00,0.000,4,0.000,0.077,2397,219,3146
$GC,1224,-1.38,-146.6,152.3,-12.6,57,1228,0.00,2.33,0.00,0.000,6,0.000,0.054,2397,1606,3147
$GC,1551,-1.38,-146.6,192.7,-12.6,73,1555,0.00,2.50,0.00,0.000,4,0.000,0.077,2396,215,3148
$GC,1601,-1.38,-146.6,199.9,-13.9,75,1606,0.00,2.33,0.00,0.000,6,0.000,0.055,2398,1600,3148
$GC,1929,-1.38,-146.6,241.6,-12.3,91,1933,0.00,2.53,0.00,0.000,4,0.000,0.078,2397,216,3148
$GC,1969,-1.38,-146.6,247.0,-13.9,93,1974,0.00,2.35,0.00,0.000,6,0.000,0.055,2397,1606,3148
$GC,2297,-1.38,-146.6,289.4,-13.4,109,2298,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1611,3148
$GC,2606,-1.38,-146.6,331.3,-13.3,124,2610,0.00,2.55,0.00,0.000,4,0.000,0.081,2397,220,3149
$GC,2724,-1.38,-146.6,348.5,-14.4,129,2728,0.00,2.35,0.00,0.000,6,0.000,0.054,2397,1604,3148
$GC,3040,-1.38,-146.6,390.5,-13.1,144,3045,0.00,2.55,0.00,0.000,4,0.000,0.082,2397,212,3148
$GC,3142,-1.38,-146.6,404.7,-13.9,148,3148,0.00,2.35,0.00,0.000,6,0.000,0.054,2397,1597,3148
$GC,3458,-1.38,-146.6,445.8,-12.9,164,3462,0.00,2.53,0.00,0.000,4,0.000,0.083,2396,216,3146
$GC,3531,-1.38,-146.6,455.6,-13.8,167,3535,0.00,2.35,0.00,0.000,6,0.000,0.054,2397,1597,3146
$GC,3847,-1.38,-146.6,494.8,-12.4,182,3851,0.00,2.53,0.00,0.000,4,0.000,0.081,2396,212,3144
$GC,3886,-1.38,-146.6,499.7,-12.6,183,3893,0.00,2.38,0.00,0.000,6,0.000,0.054,2397,1604,3144
$GC,4202,-1.38,-146.6,537.4,-12.0,199,4207,0.00,2.55,0.00,0.000,4,0.000,0.082,2397,212,3143
$GC,4260,-1.38,-146.6,544.7,-12.9,201,4266,0.00,2.38,0.00,0.000,6,0.000,0.054,2397,1602,3143
$GC,4577,-1.38,-146.6,581.1,-11.2,217,4581,0.00,2.53,0.00,0.000,4,0.000,0.084,2397,220,3142
$GC,4623,-1.38,-146.6,586.6,-11.9,219,4627,0.00,2.35,0.00,0.000,6,0.000,0.054,2397,1599,3142
$GC,4945,-1.38,-146.6,623.0,-11.2,235,4949,0.00,2.55,0.00,0.000,4,0.000,0.085,2397,213,3140
$GC,4995,-1.38,-146.6,629.4,-13.5,237,5000,0.00,2.38,0.00,0.000,6,0.000,0.054,2397,1600,3140
$GC,5312,-1.38,-146.6,665.4,-11.4,252,5316,0.00,2.55,0.00,0.000,4,0.000,0.085,2397,219,3139
$GC,5368,-1.38,-146.6,672.5,-12.7,254,5374,0.00,2.38,0.00,0.000,6,0.000,0.054,2397,1606,3139
$GC,5684,-1.38,-146.6,708.3,-11.5,270,5688,0.00,2.55,0.00,0.000,4,0.000,0.084,2397,220,3138
$GC,5734,-1.38,-146.6,714.3,-11.8,272,5738,0.00,2.38,0.00,0.000,6,0.000,0.054,2397,1609,3138
$GC,6055,-1.38,-146.6,749.0,-10.1,288,6060,0.00,2.55,0.00,0.000,4,0.000,0.084,2397,220,3137
$GC,6100,-1.38,-146.6,754.1,-11.1,290,6104,0.00,2.38,0.00,0.000,6,0.000,0.054,2397,1607,3137
$GC,6422,-1.38,-146.6,787.6,-10.5,306,6426,0.00,2.55,0.00,0.000,4,0.000,0.083,2397,215,3136
$GC,6467,-1.38,-146.6,792.8,-11.7,308,6471,0.00,2.38,0.00,0.000,6,0.000,0.054,2397,1606,3135
$GC,6789,-1.38,-146.6,827.2,-10.8,324,6794,0.00,2.55,0.00,0.000,4,0.000,0.083,2397,214,3135
$GC,6835,-1.38,-146.6,832.7,-12.0,326,6839,0.00,2.38,0.00,0.000,6,0.000,0.054,2397,1606,3135
$GC,7162,-1.38,-146.6,869.3,-11.6,342,7166,0.00,2.55,0.00,0.000,4,0.000,0.083,2397,212,3134
$GC,7195,-1.38,-146.6,873.5,-12.8,343,7202,0.00,2.38,0.00,0.000,6,0.000,0.054,2397,1606,3134
$GC,7512,-1.38,-146.6,911.5,-12.3,359,7513,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1606,3133
$GC,7821,-1.38,-146.6,948.7,-12.0,374,7825,0.00,2.55,0.00,0.000,4,0.000,0.082,2397,212,3133
$GC,7884,-1.38,-146.6,956.4,-13.1,377,7888,0.00,2.38,0.00,0.000,6,0.000,0.054,2397,1607,3133
$STATE,8167,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8167,begin apogee
$GC,8176,-0.32,0.0,990.3,11.6,391,8308,1.20,0.00,124.25,1.344,6,0.135,0.000,2631,2201,2539
$STATE,8309,end apogee,CONTROL_FINISHED_OK
$STATE,8309,begin climb
$GC,8313,1.38,146.6,998.0,0.0,398,8458,1.73,2.75,129.25,1.308,4,0.077,0.096,3000,3596,1941
$GC,8683,1.41,160.4,981.3,9.4,414,8702,0.00,2.45,13.50,1.308,6,0.000,0.061,3001,2200,1885
$GC,9021,1.44,182.1,951.3,9.0,431,9043,0.00,0.00,19.95,1.269,6,0.000,0.000,3001,2200,1796
$GC,9350,1.44,182.1,918.8,10.1,447,9354,0.00,2.58,0.00,0.000,4,0.000,0.082,3001,3602,1795
$GC,9446,1.44,182.1,908.5,11.3,451,9450,0.00,2.45,0.00,0.000,6,0.000,0.059,3001,2200,1796
$GC,9763,1.44,182.1,875.4,10.5,466,9764,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2200,1795
$GC,10072,1.44,182.1,843.2,10.5,481,10077,0.00,2.60,0.00,0.000,4,0.000,0.083,3000,3609,1796
$GC,10207,1.44,182.1,828.8,11.1,487,10211,0.00,2.47,0.00,0.000,6,0.000,0.060,3000,2196,1796
$GC,10528,1.46,193.9,798.0,9.4,503,10542,0.00,0.00,11.32,1.124,6,0.000,0.000,3001,2196,1749
$GC,10838,1.47,200.4,767.9,9.7,518,10852,0.10,2.67,7.12,1.011,4,0.075,0.081,3029,3609,1722
$GC,10921,1.47,200.4,758.6,11.5,521,10927,0.00,2.47,0.00,0.000,6,0.000,0.061,3029,2202,1723
$GC,11237,1.47,200.4,724.3,10.6,537,11238,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2202,1722
$GC,11546,1.47,200.4,691.8,10.7,552,11550,0.00,2.58,0.00,0.000,4,0.000,0.083,3029,3605,1722
$GC,11670,1.47,200.4,678.2,10.8,557,11676,0.00,2.47,0.00,0.000,6,0.000,0.062,3029,2198,1722
$GC,11986,1.47,200.4,645.4,10.5,573,11987,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2198,1722
$GC,12295,1.47,200.4,612.1,10.9,588,12300,0.00,2.60,0.00,0.000,4,0.000,0.083,3029,3611,1723
$GC,12374,1.47,200.4,602.9,11.0,591,12380,0.00,2.50,0.00,0.000,6,0.000,0.063,3029,2191,1722
$GC,12690,1.47,200.4,568.0,11.0,607,12692,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2190,1722
$GC,13000,1.47,200.4,534.6,10.7,622,13004,0.00,2.60,0.00,0.000,4,0.000,0.081,3029,3606,1722
$GC,13073,1.47,200.4,526.4,10.9,625,13077,0.00,2.47,0.00,0.000,6,0.000,0.062,3030,2199,1722
$GC,13395,1.47,200.4,493.0,10.5,641,13396,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2199,1722
$GC,13704,1.47,200.4,461.3,10.0,656,13709,0.00,2.58,0.00,0.000,4,0.000,0.081,3029,3604,1722
$GC,13794,1.47,200.4,451.5,10.8,660,13798,0.00,2.47,0.00,0.000,6,0.000,0.062,3029,2193,1722
$GC,14115,1.47,200.4,418.7,10.5,676,14117,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2193,1722
$GC,14425,1.47,200.4,384.6,11.2,691,14426,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2193,1723
$GC,14734,1.47,200.4,350.7,10.4,706,14738,0.00,2.58,0.00,0.000,4,0.000,0.082,3029,3604,1722
$GC,14823,1.47,200.4,340.8,10.1,710,14828,0.00,2.47,0.00,0.000,6,0.000,0.062,3029,2192,1722
$GC,15146,1.47,200.4,307.8,10.2,726,15147,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2192,1722
$GC,15455,1.47,200.4,275.6,10.0,741,15459,0.00,2.60,0.00,0.000,4,0.000,0.082,3029,3612,1722
$GC,15653,1.47,200.4,254.2,11.3,750,15657,0.00,2.47,0.00,0.000,6,0.000,0.062,3029,2197,1722
$GC,15981,1.47,201.5,221.8,9.9,766,15985,0.00,2.55,0.00,0.000,4,0.000,0.080,3029,793,1722
$GC,16021,1.47,201.5,217.3,10.5,768,16026,0.00,2.40,0.00,0.000,6,0.000,0.054,3029,2212,1721
$GC,16349,1.47,201.5,182.6,10.5,784,16353,0.00,2.53,0.00,0.000,4,0.000,0.082,3029,3604,1722
$GC,16405,1.47,201.5,176.3,11.4,786,16410,0.00,2.45,0.00,0.000,6,0.000,0.060,3029,2190,1722
$GC,16722,1.47,201.5,144.3,10.0,801,16726,0.00,2.50,0.00,0.000,4,0.000,0.077,3029,799,1723
$GC,16763,1.48,205.4,139.9,9.8,802,16775,0.00,2.40,6.32,0.774,6,0.000,0.054,3029,2211,1701
$GC,17097,1.48,205.4,103.1,11.0,819,17098,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2211,1701
$GC,17407,1.48,205.4,69.3,11.1,834,17411,0.00,2.53,0.00,0.000,4,0.000,0.071,3029,796,1701
$GC,17485,1.48,205.4,60.5,11.0,837,17491,0.00,2.38,0.00,0.000,6,0.000,0.055,3029,2196,1701
$GC,17802,1.51,226.0,29.4,9.0,853,17822,0.00,0.00,17.83,0.778,6,0.000,0.000,3029,2197,1617
$STATE,18086,end climb,SURFACE_DEPTH_REACHED
$STATE,18086,begin surface coast
$FINISH,0.6,1.026800
$STATE,18108,end surface coast,CONTROL_FINISHED_OK
$STATE,18108,begin surface
$SM_CCo,18134,47.72,0.752,0,0,1316,300.00
$SM_GC,1.79,0.00,0.00,47.72,0.000,0.000,0.752,379,1597,1316,-10.70,-0.06,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1985
$TCM_TEMP,16.30
$XPDR_PINGS,1
$24V_AH,23.3,9.177
$10V_AH,10.1,5.136
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,26.150,165.775,329.550,47.725,0.000,75.529,51.914,603.608,8.750,0.000,0.000,33.720,1644.002,13725.016,567.380,2090.522,1114.116,0.000,1607.861,0.000,2015.180,0.000,56.004,0.000
$DEVICE_MAMPS,181.012,95.875,1343.784,751.660,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,651.328,592.587,470.612,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44185,868
$CAP_FILE_SIZE,145929,0
$CFSIZE,254472192,249528320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,41,1,0
$GPS,060908,031738,6330.891,-620.387,35,1.0,35,-8.4